CN106289260A - A kind of algorithm and its implementation realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map - Google Patents
A kind of algorithm and its implementation realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map Download PDFInfo
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- CN106289260A CN106289260A CN201610647780.8A CN201610647780A CN106289260A CN 106289260 A CN106289260 A CN 106289260A CN 201610647780 A CN201610647780 A CN 201610647780A CN 106289260 A CN106289260 A CN 106289260A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses a kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, field setting, the field of cross-layer node including cross-layer road network are arranged and the selection of cross-domain space path；The field of cross-layer road network arranges the parameter setting including that line segment start code, line segment terminate coding, line segment forward length and the reverse length of line segment.Technical solution of the present invention develops indoor map service system, and this system can be that client user provides map layer, path planning, POI search service.By analyzing the space structure of the indoor environment of building, devise the conceptual model of indoor map, on this basis, in conjunction with indoor map data access demand, indoor map organizational structure and flow path switch are optimized, realize the conversion process from map vector to data map, divide floor to complete data initialization same building thing by geographic coordinate system.It is easy to during path planning call.
Description
Technical field
The present invention relates to indoor navigation field, be specifically related to large stadium region and include that indoor and outdoor is changed, different floors
A kind of algorithm and its implementation realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map of switching.
Background technology
The time of people average 80% to 90% is in indoor activity.Development and construction, large-scale interior architecture with city
Wu Ru mall, exhibition center, airport and museum are in a compact mass, and constructure inner structure increasingly complex.Traditional room
Interior Map Services can not meet the demand of people, and indoor map service is arisen at the historic moment.People average 80% to 90% time
Between in indoor activity.Development and construction, large-scale interior architecture Wu Ru mall, exhibition center, airport and museum with city
In a compact mass, and constructure inner structure increasingly complex.Traditional indoor map service can not meet the need of people
Asking, indoor map service is arisen at the historic moment.
Summary of the invention
It is an object of the invention to provide a kind of based on indoor electronic map realize the cross-domain navigation feature of indoor and outdoor algorithm and
Implementation method, solve in above-mentioned prior art problem one or more.
A kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, its innovative point is: include across
The field of layer road network is arranged, the field of cross-layer node is arranged and cross-domain space path selects；
The field of cross-layer road network arranges and includes that line segment start code, line segment terminate coding, line segment forward length and line segment
Reversely the parameter of length is arranged；
The field of cross-layer node arranges and includes nodes encoding, node type, nodename and the ginseng of node floor coding
Number is arranged.
In some embodiments, its principle being primarily involved in constituent operations relevant parameter include following some:
(1) according to the road network under zones of different map planning current region, it is abstract for line segment, and build its topology and close
System, all line segments i.e. adding current region initiate, terminate coding, and generate each nodes encoding；
(2) by reality measuring and calculating, current region road network is added the forward of each line segment, reverse length；
(3) the current layer node generated is added the title of this node, type and floor coding；
(4) combine road network and the node of each floor, by line segment, each floor cross-layer, trans-regional point are attached, add
Trans-regional line segment coding at the whole story；
(5) according to the difference of cross-layer type, adding the forward of trans-regional line segment, reverse length, its actual value is by cross-layer point
Type decided.
In some embodiments, the algorithm that cross-domain space path selects uses shortest path first to calculate zones of different and changes
The minimal path of layer, and screened by zones of different location, obtain the path planning needing to carry out in zones of different.
Technical solution of the present invention develops indoor map service system, and this system can be that client user provides Map
Layer, path planning, POI search service.By analyzing the space structure of the indoor environment of building, devise indoor map
Conceptual model, on this basis, in conjunction with indoor map data access demand, indoor map organizational structure and flow path switch are entered
Row optimizes, it is achieved the conversion process from map vector to data map, divides floor by geographic coordinate system to same building thing
Complete data initialization.It is easy to during path planning call.
In some embodiments, path planning is between different floors, occur in path successively with the cross-layer point of type
Time in result, it is believed that this path is arrived the path between most end cross-layer point by the type first cross-layer point, and middle occur
Same type cross-layer point can be omitted.
A kind of implementation method based on indoor electronic map cross-domain space navigation path, its innovative point is: include as follows
Step:
(1) drawing area floor road network generate road-net node, gives its start node of every section of line segment coding, and to currently
The cross-layer point such as type such as door, elevator, staircase, stair under the floor of region is labeled, by data inputting data base；
(2) integrate each region floor road network and road-net node, give the region floor coding that each node is different, connect difference
Region floor cross-layer point, forms cross-layer line segment, and to cross-layer line segment mark start node coding；
(3) route searching uses dijkstra's algorithm, i.e. shortest path first.When relating to trans-regional navigation, in data
Storehouse use shortest path first calculate in all floor road networks the shortest path from starting point to impact point, and return through
All nodes；
(4) Query Result is merged by coding according to floor coding, merges cross-layer point class in zones of different floor
The node that type is identical, only retain two nodes of first and last and in memorizer record；
(5) being coded into row filter by floor in the result of step (4), the node at the whole story only retaining the same area floor is compiled
Code；
(6) on the basis of step (5), trans-regional navigation is converted into the navigation of same layer, carries out by same layer shortest path first
Route searching, is labeled position at the whole story, and is sequentially connected with same layer through node.
It is an advantage of the current invention that: owing to indoor special environment impact causes indoor navigation system to exist with outdoor navigation system
There are some differences in some technical elements, how to utilize indoor environment to generate map, and realize indoor ground more practical, real
Drawing system, this technology combination technology difference, the indoor cross-layer navigation road network planing method of primary study；
Indoor map path planning mainly comprises same floor path planning, across floor path planning, approach point path planning
Deng three aspects.Corresponding shortest route-planning algorithm is devised according to different situations, and to indoor map road net model and data
Storage organization is designed.Use traditional mode routing algorithm with floor path planning, then need to consider building across floor path planning
The record of the link relation of interlayer.
Detailed description of the invention
A kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, the field including cross-layer road network sets
Put, the field of cross-layer node arranges and cross-domain space path selects；The field of cross-layer road network arrange include line segment start code,
Line segment terminates the parameter of coding, line segment forward length and the reverse length of line segment and arranges；The field of cross-layer node arranges and includes joint
The parameter of some coding, node type, nodename and node floor coding is arranged.
In some embodiments, its principle being primarily involved in constituent operations relevant parameter include following some: according to not
With the road network under area map planning current region, it is abstract for line segment, and build its topological relation, i.e. add current region
All line segments initial, terminate coding, and generate each nodes encoding；By reality measuring and calculating, current region road network is added each line segment
Forward, reverse length；The current layer node generated is added the title of this node, type and floor coding；Combine each building
The road network of layer and node, be attached each floor cross-layer, trans-regional point by line segment, adds trans-regional line segment coding at the whole story；
According to the difference of cross-layer type, adding the forward of trans-regional line segment, reverse length, its actual value is determined by cross-layer vertex type.
Its principal set up parameter is in some embodiments: elevator: 1. forward length: 3m；2. reverse length: 3m；Building
Ladder: 1. forward length: 10m；2. reverse length: 10m；Staircase: forward and reverse length is entered by up according to staircase, descending difference
Row is arranged；When staircase is consistent with line segment direction: 1. forward length: 3m；2. reverse length: 9999m；When staircase and line segment direction
Time contrary: 1. forward length: 9999m；2. reverse length: 3m；Door: 1. forward length: 0m；2. reverse length: 0m.
In some embodiments, the algorithm that cross-domain space path selects uses shortest path first to calculate zones of different and changes
The minimal path of layer, and screened by zones of different location, obtain the path planning needing to carry out in zones of different.
Technical solution of the present invention develops indoor map service system, and this system can be that client user provides Map
Layer, path planning, POI search service.By analyzing the space structure of the indoor environment of building, devise indoor map
Conceptual model, on this basis, in conjunction with indoor map data access demand, indoor map organizational structure and flow path switch are entered
Row optimizes, it is achieved the conversion process from map vector to data map, divides floor by geographic coordinate system to same building thing
Complete data initialization.It is easy to during path planning call.
In some embodiments, path planning is between different floors, occur in path successively with the cross-layer point of type
Time in result, it is believed that this path is arrived the path between most end cross-layer point by the type first cross-layer point, and middle occur
Same type cross-layer point can be omitted.
A kind of implementation method based on indoor electronic map cross-domain space navigation path, comprises the steps: drawing area
Floor road network also generates road-net node, gives its start node of every section of line segment coding, and to the cross-layer point under current region floor
As the types such as door, elevator, staircase, stair are labeled, by data inputting data base；Integrate each region floor road network and road network
Node, gives the region floor coding that each node is different, connects zones of different floor cross-layer point, forms cross-layer line segment, and to across
Layer line segment mark note start node coding；Route searching uses dijkstra's algorithm, i.e. shortest path first.When relating to trans-regional leading
During boat, data base uses the shortest path from starting point to impact point in the shortest path first all floor road networks of calculating,
And all nodes returned through；Query Result is merged by coding according to floor coding, merges zones of different floor
The node that middle cross-layer vertex type is identical, only retain two nodes of first and last and in memorizer record；The result of previous step is pressed
Floor is coded into row filter, only retains the nodes encoding at the whole story of the same area floor；Lead trans-regional on the basis of previous step
Boat is converted into the navigation of same layer, carries out route searching by same layer shortest path first, is labeled position at the whole story, and is sequentially connected with
With layer through node.
It is an advantage of the current invention that: owing to indoor special environment impact causes indoor navigation system to exist with outdoor navigation system
There are some differences in some technical elements, how to utilize indoor environment to generate map, and realize indoor ground more practical, real
Drawing system, this technology combination technology difference, the indoor cross-layer navigation road network planing method of primary study.
Indoor map path planning mainly comprises same floor path planning, across floor path planning, approach point path planning
Deng three aspects.Corresponding shortest route-planning algorithm is devised according to different situations, and to indoor map road net model and data
Storage organization is designed.Use traditional mode routing algorithm with floor path planning, then need to consider building across floor path planning
The record of the link relation of interlayer.
The above is only the optimal way of the present invention, it is noted that to those skilled in the art, not
On the premise of departing from the invention design, it is also possible to making some similar deformation and improvement, these also should be regarded as the present invention
Protection domain within.
Claims (5)
1. the algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map, it is characterised in that: include cross-layer road
The field of net is arranged, the field of cross-layer node is arranged and cross-domain space path selects；
The field of described cross-layer road network arranges and includes that line segment start code, line segment terminate coding, line segment forward length and line segment
Reversely the parameter of length is arranged；
The field of described cross-layer node arranges and includes nodes encoding, node type, nodename and the ginseng of node floor coding
Number is arranged.
A kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map the most according to claim 1, its
Be characterised by: its principle being primarily involved in constituent operations relevant parameter include following some:
(1) according to the road network under zones of different map planning current region, it is abstract for line segment, and build its topological relation,
The all line segments i.e. adding current region initiate, terminate coding, and generate each nodes encoding；
(2) by reality measuring and calculating, current region road network is added the forward of each line segment, reverse length；
(3) the current layer node generated is added the title of this node, type and floor coding；
(4) combine road network and the node of each floor, by line segment, each floor cross-layer, trans-regional point are attached, add transregional
Territory line segment coding at the whole story；
(5) according to the difference of cross-layer type, adding the forward of trans-regional line segment, reverse length, its actual value is by cross-layer vertex type
Determine.
A kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map the most according to claim 1, its
It is characterised by: the algorithm that described cross-domain space path selects uses shortest path first to calculate zones of different and changes the shortest path of layer
Line, and screened by zones of different location, obtain the path planning needing to carry out in zones of different.
A kind of algorithm realizing the cross-domain navigation feature of indoor and outdoor based on indoor electronic map the most according to claim 3, its
It is characterised by: described path planning is between different floors, when occurring in route result successively with the cross-layer point of type, permissible
Think that this path is arrived the path between most end cross-layer point, the middle same type cross-layer point occurred by the type first cross-layer point
Can be omitted.
5. an implementation method based on indoor electronic map cross-domain space navigation path, it is characterised in that: comprise the steps:
(1) drawing area floor road network generate road-net node, gives its start node of every section of line segment coding, and to current region
The cross-layer point such as type such as door, elevator, staircase, stair under floor is labeled, by data inputting data base；
(2) integrate each region floor road network and road-net node, give the region floor coding that each node is different, connect zones of different
Floor cross-layer point, forms cross-layer line segment, and to cross-layer line segment mark start node coding；
(3) route searching uses dijkstra's algorithm, i.e. shortest path first.When relating to trans-regional navigation, in data base
Use shortest path first to calculate in all floor road networks the shortest path from starting point to impact point, and return through all
Node；
(4) Query Result is merged by coding according to floor coding, merges cross-layer vertex type phase in zones of different floor
With node, only retain two nodes of first and last and in memorizer record；
(5) in the result of step (4), it is coded into row filter by floor, only retains the nodes encoding at the whole story of the same area floor；
(6) on the basis of step (5), trans-regional navigation is converted into the navigation of same layer, carries out path by same layer shortest path first
Search, is labeled position at the whole story, and is sequentially connected with same layer through node.
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| CN113465601A (en) * | 2021-05-13 | 2021-10-01 | 上海师范大学 | Indoor navigation based on visual path |
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